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Teleoperation over IP Network: Virtual PUMA Robot

Philippe Fraisse 1 Cédric Agniel 2 David Andreu 3 Jose Armando Segovia de los Rios 4
1 DEMAR - Artificial movement and gait restoration
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier, CRISAM - Inria Sophia Antipolis - Méditerranée
2 LIRMM/NERO - NEtworked RObots
LIRMM - Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier
Abstract : We propose in this paper a stable remote position/force control scheme for manipulator robot via Internet based on Smith Predictor principle. In order to validate in real network situation our control method, we developed a real time Virtual Puma Robot based on RTLinux Operating System. This Virtual Robot contains a real time task which computes the differential non linear equation of the PUMA Robot including a virtual environment in order to perform a force control loop. Some interesting experimental results in the case of long distance (Mexico-France : ~7000 km) show the real improvement obtained with this method under some important mean time delay (~200ms). This addition enhances and secures the teleoperation through the Internet. The Virtual PUMA Robot server will be reachable on Internet and available for the conference to perform some real-time teleoperation experimentations via a Java HMI. Closing a loop through an IP network open some news application field such that a cooperated control for robotics systems via Internet.
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Submitted on : Thursday, April 3, 2008 - 8:12:02 AM
Last modification on : Wednesday, January 8, 2020 - 11:43:51 AM
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  • HAL Id : lirmm-00269447, version 1



Philippe Fraisse, Cédric Agniel, David Andreu, Jose Armando Segovia de los Rios. Teleoperation over IP Network: Virtual PUMA Robot. ICIT: International Conference on Industrial Technology, Dec 2003, Maribor, Slovenia. pp.669-674. ⟨lirmm-00269447⟩



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